374 lines
9.4 KiB
C++
Executable File
374 lines
9.4 KiB
C++
Executable File
/*
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* Copyright (C) OpenTX
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*
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* Based on code named
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* th9x - http://code.google.com/p/th9x
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* er9x - http://code.google.com/p/er9x
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* gruvin9x - http://code.google.com/p/gruvin9x
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*
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* License GPLv2: http://www.gnu.org/licenses/gpl-2.0.html
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*
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* This program is free software; you can redistribute it and/or modify
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* it under the terms of the GNU General Public License version 2 as
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* published by the Free Software Foundation.
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*
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* This program is distributed in the hope that it will be useful,
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* but WITHOUT ANY WARRANTY; without even the implied warranty of
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* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
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* GNU General Public License for more details.
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*/
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#include "opentx.h"
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#include "io/frsky_pxx2.h"
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#include "pulses/pxx2.h"
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uint8_t s_pulses_paused = 0;
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ModuleSettings moduleSettings[NUM_MODULES];
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InternalModulePulsesData intmodulePulsesData __DMA;
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ExternalModulePulsesData extmodulePulsesData __DMA;
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TrainerPulsesData trainerPulsesData __DMA;
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uint8_t getModuleType(uint8_t module)
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{
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uint8_t type = g_model.moduleData[module].type;
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if (module == INTERNAL_MODULE && isInternalModuleAvailable(type)) {
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return type;
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}
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if (module == EXTERNAL_MODULE && isExternalModuleAvailable(type)) {
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return type;
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}
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return MODULE_TYPE_NONE;
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}
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uint8_t getRequiredProtocol(uint8_t module)
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{
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uint8_t protocol;
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switch (getModuleType(module)) {
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case MODULE_TYPE_PPM:
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protocol = PROTOCOL_CHANNELS_PPM;
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break;
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case MODULE_TYPE_XJT:
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#if defined(INTMODULE_USART)
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if (module == INTERNAL_MODULE) {
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protocol = PROTOCOL_CHANNELS_PXX1_SERIAL;
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break;
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}
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#endif
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// no break
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case MODULE_TYPE_R9M:
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protocol = PROTOCOL_CHANNELS_PXX1_PULSES;
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break;
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case MODULE_TYPE_R9M_LITE:
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protocol = PROTOCOL_CHANNELS_PXX1_SERIAL;
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break;
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case MODULE_TYPE_XJT2:
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case MODULE_TYPE_R9M2:
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case MODULE_TYPE_R9M_LITE2:
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case MODULE_TYPE_R9M_LITE_PRO2:
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protocol = PROTOCOL_CHANNELS_PXX2;
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break;
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case MODULE_TYPE_SBUS:
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protocol = PROTOCOL_CHANNELS_SBUS;
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break;
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#if defined(MULTIMODULE)
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case MODULE_TYPE_MULTIMODULE:
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protocol = PROTOCOL_CHANNELS_MULTIMODULE;
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break;
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#endif
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#if defined(DSM2)
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case MODULE_TYPE_DSM2:
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protocol = limit<uint8_t>(PROTOCOL_CHANNELS_DSM2_LP45, PROTOCOL_CHANNELS_DSM2_LP45+g_model.moduleData[module].rfProtocol, PROTOCOL_CHANNELS_DSM2_DSMX);
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// The module is set to OFF during one second before BIND start
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{
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static tmr10ms_t bindStartTime = 0;
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if (moduleSettings[module].mode == MODULE_MODE_BIND) {
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if (bindStartTime == 0) bindStartTime = get_tmr10ms();
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if ((tmr10ms_t)(get_tmr10ms() - bindStartTime) < 100) {
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protocol = PROTOCOL_CHANNELS_NONE;
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break;
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}
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}
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else {
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bindStartTime = 0;
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}
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}
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break;
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#endif
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#if defined(CROSSFIRE)
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case MODULE_TYPE_CROSSFIRE:
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protocol = PROTOCOL_CHANNELS_CROSSFIRE;
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break;
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#endif
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default:
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protocol = PROTOCOL_CHANNELS_NONE;
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break;
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}
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if (s_pulses_paused) {
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protocol = PROTOCOL_CHANNELS_NONE;
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}
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#if 0
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// will need an EEPROM conversion
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if (moduleSettings[module].mode == MODULE_OFF) {
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protocol = PROTOCOL_CHANNELS_NONE;
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}
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#endif
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return protocol;
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}
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void disablePulses(uint8_t module, uint8_t protocol)
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{
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// stop existing protocol hardware
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switch (protocol) {
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#if defined(PXX1)
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case PROTOCOL_CHANNELS_PXX1_PULSES:
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disable_pxx1_pulses(module);
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break;
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#if defined(INTMODULE_USART) || defined(EXTMODULE_USART)
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case PROTOCOL_CHANNELS_PXX1_SERIAL:
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disable_pxx1_serial(module);
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break;
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#endif
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#endif
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#if defined(DSM2)
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case PROTOCOL_CHANNELS_DSM2_LP45:
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case PROTOCOL_CHANNELS_DSM2_DSM2:
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case PROTOCOL_CHANNELS_DSM2_DSMX:
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disable_serial(module);
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break;
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#endif
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#if defined(CROSSFIRE)
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case PROTOCOL_CHANNELS_CROSSFIRE:
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// TODO disable_module_timer(module);
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break;
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#endif
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#if defined(PXX2)
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case PROTOCOL_CHANNELS_PXX2:
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disable_pxx2(module);
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break;
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#endif
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#if defined(MULTIMODULE)
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case PROTOCOL_CHANNELS_MULTIMODULE:
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#endif
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case PROTOCOL_CHANNELS_SBUS:
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disable_serial(module);
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break;
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case PROTOCOL_CHANNELS_PPM:
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disable_ppm(module);
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break;
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}
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}
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void enablePulses(uint8_t module, uint8_t protocol)
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{
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// start new protocol hardware here
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switch (protocol) {
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#if defined(PXX1)
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case PROTOCOL_CHANNELS_PXX1_PULSES:
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init_pxx1_pulses(module);
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break;
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#if defined(INTMODULE_USART) || defined(EXTMODULE_USART)
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case PROTOCOL_CHANNELS_PXX1_SERIAL:
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init_pxx1_serial(module);
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break;
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#endif
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#endif
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#if defined(DSM2)
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case PROTOCOL_CHANNELS_DSM2_LP45:
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case PROTOCOL_CHANNELS_DSM2_DSM2:
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case PROTOCOL_CHANNELS_DSM2_DSMX:
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init_serial(module, DSM2_BAUDRATE, DSM2_PERIOD * 2000);
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break;
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#endif
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#if defined(CROSSFIRE)
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case PROTOCOL_CHANNELS_CROSSFIRE:
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// TODO init_module_timer(module, CROSSFIRE_PERIOD, true);
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break;
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#endif
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#if defined(PXX2)
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case PROTOCOL_CHANNELS_PXX2:
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init_pxx2(module);
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break;
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#endif
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#if defined(MULTIMODULE)
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case PROTOCOL_CHANNELS_MULTIMODULE:
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init_serial(module, MULTIMODULE_BAUDRATE, MULTIMODULE_PERIOD * 2000);
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break;
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#endif
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case PROTOCOL_CHANNELS_SBUS:
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init_serial(module, SBUS_BAUDRATE, SBUS_PERIOD_HALF_US);
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break;
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case PROTOCOL_CHANNELS_PPM:
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init_ppm(module);
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break;
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}
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}
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void setupPulsesInternalModule(uint8_t protocol)
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{
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switch (protocol) {
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#if defined(PXX1) && !defined(INTMODULE_USART)
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case PROTOCOL_CHANNELS_PXX1_PULSES:
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intmodulePulsesData.pxx.setupFrame(INTERNAL_MODULE);
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scheduleNextMixerCalculation(INTERNAL_MODULE, INTMODULE_PXX_PERIOD);
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break;
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#endif
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#if defined(PXX1) && defined(INTMODULE_USART)
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case PROTOCOL_CHANNELS_PXX1_SERIAL:
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intmodulePulsesData.pxx_uart.setupFrame(INTERNAL_MODULE);
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scheduleNextMixerCalculation(INTERNAL_MODULE, INTMODULE_PXX_PERIOD);
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break;
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#endif
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#if defined(PXX2)
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case PROTOCOL_CHANNELS_PXX2:
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intmodulePulsesData.pxx2.setupFrame(INTERNAL_MODULE);
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scheduleNextMixerCalculation(INTERNAL_MODULE, moduleSettings[INTERNAL_MODULE].mode == MODULE_MODE_SPECTRUM_ANALYSER ? 1 : PXX2_PERIOD);
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break;
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#endif
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#if defined(PCBSKY9X) || defined(TARANIS_INTERNAL_PPM)
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case PROTOCOL_CHANNELS_PPM:
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setupPulsesPPM(&extmodulePulsesData.ppm, g_model.moduleData[INTERNAL_MODULE].channelsStart, g_model.moduleData[INTERNAL_MODULE].channelsCount, g_model.moduleData[INTERNAL_MODULE].ppm.frameLength);
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scheduleNextMixerCalculation(INTERNAL_MODULE, PPM_PERIOD(INTERNAL_MODULE));
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break;
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#endif
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default:
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break;
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}
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}
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void setupPulsesExternalModule(uint8_t protocol)
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{
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switch (protocol) {
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#if defined(PXX1)
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case PROTOCOL_CHANNELS_PXX1_PULSES:
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extmodulePulsesData.pxx.setupFrame(EXTERNAL_MODULE);
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scheduleNextMixerCalculation(EXTERNAL_MODULE, PXX_PULSES_PERIOD);
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break;
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case PROTOCOL_CHANNELS_PXX1_SERIAL:
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extmodulePulsesData.pxx_uart.setupFrame(EXTERNAL_MODULE);
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scheduleNextMixerCalculation(EXTERNAL_MODULE, EXTMODULE_PXX_SERIAL_PERIOD);
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break;
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#endif
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#if defined(PXX2)
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case PROTOCOL_CHANNELS_PXX2:
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extmodulePulsesData.pxx2.setupFrame(EXTERNAL_MODULE);
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scheduleNextMixerCalculation(EXTERNAL_MODULE, PXX2_PERIOD);
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break;
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#endif
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case PROTOCOL_CHANNELS_SBUS:
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setupPulsesSbus();
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scheduleNextMixerCalculation(EXTERNAL_MODULE, SBUS_PERIOD);
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break;
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#if defined(DSM2)
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case PROTOCOL_CHANNELS_DSM2_LP45:
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case PROTOCOL_CHANNELS_DSM2_DSM2:
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case PROTOCOL_CHANNELS_DSM2_DSMX:
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setupPulsesDSM2();
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scheduleNextMixerCalculation(EXTERNAL_MODULE, DSM2_PERIOD);
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break;
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#endif
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#if defined(CROSSFIRE)
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case PROTOCOL_CHANNELS_CROSSFIRE:
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setupPulsesCrossfire();
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scheduleNextMixerCalculation(EXTERNAL_MODULE, CROSSFIRE_PERIOD);
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break;
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#endif
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#if defined(MULTIMODULE)
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case PROTOCOL_CHANNELS_MULTIMODULE:
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setupPulsesMultimodule();
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scheduleNextMixerCalculation(EXTERNAL_MODULE, MULTIMODULE_PERIOD);
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break;
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#endif
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case PROTOCOL_CHANNELS_PPM:
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setupPulsesPPMExternalModule();
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scheduleNextMixerCalculation(EXTERNAL_MODULE, PPM_PERIOD(EXTERNAL_MODULE));
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break;
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default:
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break;
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}
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}
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void setupPulses(uint8_t module, uint8_t protocol)
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{
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switch (module) {
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case INTERNAL_MODULE:
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setupPulsesInternalModule(protocol);
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break;
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case EXTERNAL_MODULE:
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setupPulsesExternalModule(protocol);
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break;
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}
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}
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bool setupPulses(uint8_t module)
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{
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uint8_t protocol = getRequiredProtocol(module);
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heartbeat |= (HEART_TIMER_PULSES << module);
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if (moduleSettings[module].protocol != protocol) {
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disablePulses(module, moduleSettings[module].protocol);
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moduleSettings[module].protocol = protocol;
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enablePulses(module, protocol);
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return false;
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}
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else {
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setupPulses(module, protocol);
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return true;
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}
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}
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void setCustomFailsafe(uint8_t moduleIndex)
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{
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if (moduleIndex < NUM_MODULES) {
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for (int ch=0; ch<MAX_OUTPUT_CHANNELS; ch++) {
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if (ch < g_model.moduleData[moduleIndex].channelsStart || ch >= sentModuleChannels(moduleIndex) + g_model.moduleData[moduleIndex].channelsStart) {
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g_model.failsafeChannels[ch] = 0;
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}
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else if (g_model.failsafeChannels[ch] < FAILSAFE_CHANNEL_HOLD) {
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g_model.failsafeChannels[ch] = channelOutputs[ch];
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}
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}
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}
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}
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